CN111906807A

CN111906807A - Clamping jaw device

Info

Publication number: CN111906807A
Application number: CN202010524225.2A
Authority: CN
Inventors: 肖国新; 严启凡; 曹耿; 李义金; 朱晓
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-11-10
Anticipated expiration: 2040-06-10
Also published as: CN111906807B

Abstract

The invention discloses a clamping jaw device, comprising: the clamping device comprises a fixed plate, a clamping component and a side pushing component; the clamping part comprises a clamping driving part arranged above the fixed plate, a clamping transmission part and a clamping jaw arranged below the fixed plate, and the side pushing part comprises a side pushing driving part and a side pushing transmission part arranged above the fixed plate and used for enabling the fixed plate to extend out or retract relative to the rack. The clamping jaw device provided by the embodiment of the invention has the advantages that the whole structure is compact, the mutual interference of all parts is small during working, and the working is more flexible and safer.

Description

Clamping jaw device

Technical Field

The invention relates to the field of construction machinery equipment, in particular to a clamping jaw device.

Background

The clamping jaw structure of the mechanical equipment in the building industry is single and heavy at present, the clamping jaw is driven by the synchronous belt to clamp materials, and the materials are pushed out by the ball screw. The conveying mode mainly depends on the matching of the ball screw, and if the stroke and the structural rigidity of the conveying mode are improved, a guide device needs to be installed, so that the structural size is increased, and the conveying mode is not beneficial to the complex working environment of a building working scene.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the clamping jaw device, the clamping part and the side pushing part are cooperatively operated to realize the grabbing and the side pushing of the object, and the whole structure of the clamping jaw device is compact in arrangement.

According to a jaw apparatus of an embodiment of the present invention, the jaw mechanism includes: the clamping device comprises a fixed plate, a clamping component and a side pushing component; the clamping part comprises a clamping driving part, a clamping driving part and a clamping jaw, the clamping driving part is arranged above the fixing plate, the clamping driving part is arranged below the fixing plate, and the clamping driving part is connected with the clamping jaw through the clamping driving part so as to drive the clamping jaw to move to clamp an object; the side pushes away the part including installing the side of fixed plate top pushes away driving piece and side and pushes away the driving piece, the side pushes away the driving piece with press from both sides and get driving piece parallel arrangement, the side pushes away the driving piece through the side push away the driving piece with the fixed plate with the frame links to each other, the side pushes away the driving piece and can drive the fixed plate is stretched out or is retracted relative to the frame.

According to the clamping jaw device provided by the embodiment of the invention, the clamping part and the side pushing part can realize clamping and side pushing of the object under the synergistic action, and the object can be more conveniently placed to a working place after being clamped. Through all settling the top at the fixed plate with clamping jaw driving piece, press from both sides the transmission piece and the side pushes away the part, the clamping jaw setting is in the below of fixed plate, and the interference influence of the aforesaid part that receives when the clamping jaw moves about is little, and the clamping jaw can be adjusted according to the needs of being pressed from both sides the object. And the fixed plate below not only has the clamping jaw, still need reserve the space that is occupied by the clamp object, still need reserve the activity adjustment space of clamping jaw, visible clamping jaw and object can occupy great area on the whole, with the clamping jaw driving piece, press from both sides and get the driving medium and the side pushes away the part and settle in the fixed plate top, can not make the fixed plate below excessively swell, still make full use of fixed plate top free space, and will side push away the driving piece and press from both sides and get driving piece parallel arrangement, the two mutual interference is little when the motion, also be favorable to making clamping jaw device overall structure compact. Therefore, the safety of the operation of the clamping jaw device can be improved. Especially when being used for laying bricks, be convenient for put things in good order the fragment of brick fast, accurately to the department of laying a wall, and be difficult for colliding with on the fragment of brick that has already been laid.

Optionally, the side push drive comprises a gear assembly comprising: the primary rack, the secondary rack and the side push gear; the primary rack is used for being connected with the rack and arranged along the telescopic direction of the fixed plate; the secondary rack is arranged on the fixing plate and is parallel to the primary rack; the side pushes away the gear respectively with the one-level rack with the second grade rack meshes mutually, the side pushes away the driving piece and is used for driving the side pushes away the gear and moves along the flexible direction of fixed plate.

Generally, the side push drive further comprises: a side push screw rod and a side push nut; the side push screw rod is arranged along the telescopic direction of the fixing plate, and the side push driving piece is used for driving the side push screw rod to rotate; the side pushes away the nut cooperation in the side pushes away on the lead screw, the side pushes away the nut and is restricted along the flexible direction translation of fixed plate, the side pushes away the gear rotationally connect in the side pushes away on the nut.

Optionally, the side push drive further comprises: the lateral pushing device comprises a lateral pushing transmission belt and a lateral pushing belt wheel, wherein two sides of the lateral pushing transmission belt are respectively connected with the lateral pushing driving piece and the lateral pushing screw rod through the lateral pushing belt wheel.

Specifically, the side pushes away the lead screw with the side pushes away driving piece parallel arrangement, the side pushes away the lead screw with the side pushes away the driving piece and is located press from both sides of getting the driving piece.

Optionally, the clamping jaw device further comprises: the first-level guide assembly is connected between the fixed plate and the rack.

Generally, the jaw apparatus further comprises: the mounting panel, the side push away the driving piece with the side pushes away the lead screw and all installs the below of mounting panel, the bottom of at least one side of mounting panel is connected with side position strip, one-level direction subassembly includes matched with one-level guide rail and one-level slider, the one-level guide rail is connected the orientation of side position strip one side of lead screw is pushed away to the side, the side pushes away the nut and connects on the one-level slider, one-level rack connection is in keeping away from of side position strip one side of lead screw is pushed away to the side.

Optionally, the clamping jaw device further comprises: a secondary guide assembly, the secondary guide assembly comprising: the guide rail of second grade and second grade slider matched with, the second grade guide rail is installed on the fixed plate, the second grade slider with the first grade slider links to each other.

Generally, the gripping drive comprises: and one of the bevel gears is connected with the clamping driving piece, and the rotating shaft of the other bevel gear penetrates through the fixing plate and then is connected with the clamping jaw.

Specifically, the number of the clamping jaws is two, the clamping component further comprises a clamping transmission belt, two sides of the clamping transmission belt are connected to the fixing plate through clamping transmission wheels, one of the clamping transmission wheels is connected with a rotating shaft of the other bevel gear, and the two clamping jaws are connected to two sections of the transmission belt, wherein the moving directions of the two sections of the transmission belt are opposite.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a perspective view of a gripper apparatus of an embodiment gripping a brick.

Figure 2 is a perspective view of a jaw apparatus of one embodiment.

Figure 3 is a perspective view of one embodiment of a jaw apparatus when a mounting plate is not provided.

Figure 4 is a perspective view of the jaw apparatus shown in figure 3 with the protective shell hidden.

Figure 5 is a right side view of the jaw apparatus shown in figure 3.

Figure 6 is a perspective view of another perspective of the jaw apparatus shown in figure 3.

Figure 7 is a perspective view of yet another perspective of the jaw apparatus shown in figure 3.

Figure 8 is a rear side view of the jaw apparatus shown in figure 3.

Figure 9 is a top view of the jaw apparatus shown in figure 3.

Figure 10 is a top view of the jaw apparatus shown in figure 2.

Figure 11 is a perspective view of the jaw apparatus shown in figure 2, prior to side pushing.

Fig. 12 is a perspective view of the jaw apparatus shown in fig. 2 pushed back to the front side.

Figure 13 is a perspective view from yet another perspective of the jaw apparatus shown in figure 2.

Reference numerals:

a gripper device 100, an object 200 to be gripped,

A fixed plate 1,

A clamping component 2,

A gripping driving member 21, a gripping motor 211, a gripping speed reducer 212,

A gripping transmission member 22, a bevel gear 221, a protective shell 222,

A clamping jaw 23, a front clamping jaw 231, a rear clamping jaw 232, a connecting block 233,

A clamping transmission belt 24, a clamping transmission wheel 25,

A side pushing component 3,

A side push driving member 31, a side push motor 311, a side push speed reducer 312,

A side push transmission part 32,

Gear assembly 321, primary rack 3211, secondary rack 3212, side pushing gear 3213, conversion seat 3214,

A side push screw rod 322, a side push nut 323,

A side push belt 324, a side push belt wheel 325,

A primary guide component 4, a primary guide rail 41, a primary slide block 42,

A secondary guide component 5, a secondary guide rail 51, a secondary slide block 52,

A first detecting member 61, a second detecting member 62, a third detecting member 63,

A mounting plate 7, a side position bar 71,

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "bottom", "inner", "outer", "axial", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-13, a clamping jaw apparatus 100 according to an embodiment of the invention will be described, wherein the clamping jaw apparatus 100 can be used for clamping an object 200, such as a brick clamped by the clamping jaw apparatus 100 in fig. 1.

As shown in fig. 2 and 3, a jaw device 100 according to an embodiment of the present invention includes: a fixed plate 1, a clamping component 2 and a side pushing component 3.

As shown in fig. 3 and 4, the gripping member 2 includes a gripping driving member 21 mounted above the fixed plate 1, a gripping driving member 22, and a gripping jaw 23 mounted below the fixed plate 1, and the gripping driving member 21 is connected to the gripping jaw 23 through the gripping driving member 22 to drive the gripping jaw 23 to move to grip the object 200.

The side pushing component 3 comprises a side pushing driving component 31 and a side pushing transmission component 32 which are arranged above the fixing plate 1, the side pushing driving component 31 is arranged in parallel with the clamping driving component 21, the side pushing driving component 31 is connected with the fixing plate 1 and a rack through the side pushing transmission component 32, and the side pushing driving component 31 can drive the fixing plate 1 to extend or retract relative to the rack, wherein the rack is an external component.

The gripper apparatus 100 serves as an executing end of the construction machinery, and can assist the construction machinery to complete various operations, such as carrying, stacking and the like. The clamping jaw device 100 is usually mounted on a frame of the construction machinery, and the frame drives the clamping jaw device 100 to move when moving, for example, the frame has a traveling mechanism, and the frame drives the clamping jaw device 100 to move when traveling, so as to carry the object 200. For another example, the rack has a robot arm, the clamping jaw device 100 is mounted on the robot arm, and the robot arm can drive the clamping jaw device 100 to move and turn over through the movement of each joint, or perform complicated pose adjustment, thereby realizing the carrying, turning, repositioning, and the like of the object 200.

The conventional clamping jaw device can only clamp an object, and the position of the clamping jaw device is adjusted by means of the action of the machine frame, so that the aim of adjusting the position of the clamped object is fulfilled. The position of the object is adjusted in the mode, a transmission chain from the rack to the clamping jaw device is long, transmission precision is difficult to guarantee, and errors are large. To solve this problem, the present invention proposes to add a side pushing member 3 to the gripper apparatus so that the gripper apparatus 100 can move the object 200 laterally. The transmission chain from the side pushing component 3 to the clamping component 2 is short, the control is simpler and easier, and the displacement precision is easy to ensure.

It will be appreciated that if the side pushing members 3 and gripping members 2 are simply stacked, the interference between the two members is inevitable and may result in an excessively large jaw apparatus, which is greatly affected by the interference of surrounding members during operation. In order to solve the problem, in the application, the clamping jaw driving part 21, the clamping transmission part 22 and the side pushing part 3 are all arranged above the fixing plate 1, the clamping jaw 23 is arranged below the fixing plate 1, the interference influence of the clamping jaw 23 on the parts is small when the clamping jaw 23 moves, and the clamping jaw 23 can be adjusted according to the requirement of the clamped object 200. And fixed plate 1 below not only has clamping jaw 23, still need reserve the shared space of being pressed from both sides the object 200, still need reserve the activity adjustment space of clamping jaw 23, it can occupy great area on whole to see clamping jaw 23 and object 200, with clamping jaw driving piece 21, press from both sides and press from both sides driving piece 22 and side push part 3 and settle in fixed plate 1 top, can not make fixed plate 1 below excessively swell, still make full use of fixed plate 1 top free space, and will press from both sides side push driving piece 31 and press from both sides the parallel arrangement of clamping driving piece 21, the two interferes little each other when moving, also be favorable to making clamping jaw device 100 overall structure compact. Therefore, the probability that the clamping jaw device 100 collides with surrounding parts during working is reduced, and the working safety of the clamping jaw device 100 can be improved.

The jaw apparatus 100 is more advantageous when objects are palletized or when the jaw apparatus 100 is used for bricking. Taking the object 200 as an example, when piling up or building bricks, the bricks need to be arranged neatly and densely. The clamping jaw device 100 can adjust the position through the side pushing part 3 after clamping bricks, so that bricks can be placed after the bricks reach the proper positions without moving a rack. And because clamping jaw device 100 is whole compact can set the volume less, still can normally remove when the brick sign indicating number arrives the brick pillar or builds the corner of brick wall, and it is more convenient to use.

In some embodiments, the side push transmission member 32 includes a gear assembly 321, which uses gears to push the side, on one hand, with a large transmission force and a large bearable load, and on the other hand, to facilitate high precision control of the moving distance.

Specifically, as shown in fig. 3-6, the gear assembly 321 includes: a primary rack 3211, a secondary rack 3212, and a side thrust gear 3213. The first-stage rack 3211 is used for connecting the rack and is arranged along the telescopic direction of the fixing plate 1, the second-stage rack 3212 is mounted on the fixing plate 1 and is arranged parallel to the first-stage rack 3211, the side push gear 3213 is respectively engaged with the first-stage rack 3211 and the second-stage rack 3212, and the side push driving member 31 is used for driving the side push gear 3213 to move along the telescopic direction of the fixing plate 1. The meshing points of the two racks and the side pushing gear are 180 degrees different, so that the moving directions of the two racks opposite to the side pushing gear are opposite, when the side pushing gear 3213 moves twice the stroke relative to the primary rack 3211, the secondary rack 3212 moves twice the stroke relative to the primary rack 3211, and the side pushing speed is improved.

More specifically, as shown in fig. 4 and 5, the primary rack 3211 and the secondary rack 3212 are both straight racks, and the lateral pushing gear 3213 is a straight gear, so that the structure is simple and the assembly is easy. Optionally, the tooth surface of the primary rack 3211 is disposed downward, the secondary rack 3212 is located right below the primary rack 3211, the tooth surface of the secondary rack 3212 is disposed upward, and the lateral pushing gear 3213 is located between the two. The first-stage gear rack 3211 and the second-stage gear rack 3212 are arranged in parallel with the clamping driving part 21 and the side pushing driving part 31, so that the arrangement is convenient and compact, and the side pushing does not affect each other.

In other embodiments, a double-stroke transmission mode can be realized by a chain structure and a rope structure instead of the gear assembly 321, but the transmission reliability of the gear assembly 321 is relatively higher.

In some embodiments, as shown in fig. 3, 4 and 6, the side push driver 32 further comprises: a side push screw 322 and a side push nut 323. The side push screw rod 322 is arranged along the telescopic direction of the fixed plate 1, the side push driving piece 31 is used for driving the side push screw rod 322 to rotate, the side push nut 323 is matched on the side push screw rod 322, the side push nut 323 is limited to translate along the telescopic direction of the fixed plate 1, and the side push gear 3213 is rotatably connected on the side push nut 323. That is, the side pushing driving member 31 drives the side pushing screw rod 322 to rotate, the side pushing screw rod 322 drives the side pushing nut 323 to move, and then the side pushing nut 323 drives the side pushing gear 3213 to roll along the primary rack 3211. The lateral pushing screw 322 rotates one turn, and the lateral pushing nut 323 can walk on a lead of the thread thereon, and the lead of the thread can be usually set to be smaller, only a few millimeters, so that the control precision of the lateral pushing displacement is higher. The accuracy of the control of the side-push displacement can be further improved if the side-push driver 31 is able to control the angle of rotation of the side-push screw 322. In addition, the lateral pushing screw rod 322 and the lateral pushing nut 323 are matched to drive the lateral pushing to move, the length shape of the lateral pushing screw rod 322 limits the moving direction of the lateral pushing nut 323, and the direction control of the lateral pushing is improved.

Optionally, the side pushing screw 322 is a ball screw, and the side pushing nut 323 matched with the side pushing screw is a ball nut, so that the transmission friction can be reduced, and the transmission precision can be further improved.

In some embodiments, as shown in fig. 6, the side push drive 32 further comprises: a side push belt 324 and a side push pulley 325, wherein the side push driving member 31 and the side push screw 322 are connected to both sides of the side push belt 324 through the side push pulley 325, respectively. The side push driving member 31 and the side push screw 322 can be protected by the elasticity of the side push transmission belt 324, for example, when the side push driving member 31 and the side push screw 322 are overloaded or jammed, the rotation of the side push driving member 31 and the side push screw 322 is not matched, the transmission of the side push transmission belt 324 plays a role in buffering, and even if the side push transmission belt 324 is damaged and broken, the replacement cost is low. When the distance between the side push driving member 31 and the side push screw 322 needs to be adjusted, only the length of the side push transmission belt 324 can be adjusted, and the sizes of other parts can be unchanged. In addition, instead of connecting the side push driving member 31 to one end of the side push screw 322, the side push belt 324 is used for transmission, so that 180 degrees in the transmission direction can be bent, and the length of the clamping jaw device 100 in the side push direction can be reduced conveniently.

Specifically, the side push driving member 31 includes a side push motor 311 and a side push speed reducer 312 which are arranged above the fixing plate 1, the side push motor 311 moves to transmit power to a side push pulley 325 arranged at an end of the side push speed reducer 312 through the side push speed reducer 312, the other side push pulley 325 is connected to one end of a side push screw rod 322, and a side push transmission belt 324 transmits power through the side push pulley 325. By using the side-push motor 311 and the side-push reducer 312, not only the size of the side-push driver 31 can be reduced, but also the control accuracy can be improved. In addition, the motor outputs power through a speed reducer, generally, the speed reduction and torque increase are realized, the load capacity is improved, and the motor is ensured.

Alternatively, the side push driving component 31 and the side push screw 322 may not be provided with the side push transmission belt 324, but the 180-degree turning of the transmission direction is directly realized by a plurality of gear transmissions.

In some embodiments, as shown in fig. 6, the side push screw rod 322 and the side push driving member 31 are disposed in parallel, and the side push screw rod 322 and the side push driving member 31 are disposed on both sides of the gripping driving member 21. Specifically, the side push screw rod 322, the gripping driving member 21, and the side push driving member 31 are disposed in parallel on the same horizontal plane.

It will be appreciated that the gripping drive 21 is fixedly attached to the fixed plate 1 and transmits power through the fixed plate 1 to the jaws 23 below the fixed plate 1. While the side push screw rod 322 and the side push driving member 31 are mounted on the frame, for example, the side push screw rod 322 and the side push driving member 31 are fixed on the frame by a mounting plate 7 mentioned below, and it can be seen from the variation of fig. 11 and 12 that the side push screw rod 322 and the side push driving member 31 are mounted on the bottom of the mounting plate 7. As shown in fig. 7-9, the side push screw rod 322 and the side push driving member 31 need to be fixed to the mounting plate 7, and the gripping driving member 21 does not need to be fixed to the mounting plate 7. If the side push screw rod 322 and the side push driving member 31 are arranged closely, a large gap is inevitably left between the two in order to leave the installation fixing position. The clamping driving piece 21 is arranged in the gap, so that the three parts can be arranged compactly, and the whole occupied space is small. Since all the three are arranged along the side pushing direction, even if the clamping driving member 21 is displaced relative to the side pushing driving member 31 during the side pushing, the clamping driving member can move along the end away from the side pushing screw rod 322 and matched with the side pushing driving member 31, so that the clamping driving member, the clamping driving member and the side pushing driving member can not interfere with each other.

In other embodiments, the gripping drive 21 may be replaced by a powered push rod or other drive structure.

In some embodiments, as shown in fig. 7 and 4, the jaw apparatus 100 further includes: one-level guide assembly 4, one-level guide assembly 4 are connected between fixed plate 1 and the frame, play the side and push away the guide effect to fixed plate 1.

Specifically, the side-push nut 323 is connected to the first-stage guide assembly 4, and the side-push nut 323 and the side-push gear 3213 can both be guided by the first-stage guide assembly 4, so that the side-push gear 3213 is prevented from being disengaged from the rack, and the side-push nut 323 is prevented from rotating on the side-push screw 322 without moving.

Specifically, as shown in fig. 10 and 11, the jaw device 100 further includes: the mounting plate 7, the side push driving member 31 and the side push screw rod 322 are all mounted below the mounting plate 7. The mounting plate 7 is arranged to facilitate the modular clamping jaw device 100, and after all the components are assembled through the mounting plate 7, the assembly of the components on the rack is very easy without adjusting the assembly position, the assembly precision and the like.

Specifically, as shown in fig. 7 and 4, the primary guide assembly 4 includes a primary guide rail 41 and a primary slider 42, the primary guide rail 41 is connected to the mounting plate 7, and the lateral pushing nut 323 is connected to the primary slider 42, so that the respective movement forms of the lateral pushing nut 323 and the lateral pushing gear 3213 can be ensured.

In some embodiments, the side pushing nut 323 is connected to a switching seat 3214, and a rotating shaft of the side pushing gear 3213 is connected to the switching seat 3214 through a bearing.

Further, as shown in fig. 11 and 3, a side position bar 71 is attached to the bottom of at least one side of the mounting plate 7. As shown in fig. 7 and 6, the primary guide assembly 4 includes a primary guide rail 41 and a primary slider 42, which are engaged with each other, the primary guide rail 41 is connected to a side of the lateral bar 71 facing the lateral push screw 322, the primary slider 42 is connected to the lateral push nut 323, and the primary rack 3211 is connected to a side of the lateral bar 71 away from the lateral push screw 322. The side position strips 71 not only provide the mounting positions of the first-stage guide rail 41 and the first-stage rack 3211, but also fully utilize the space in the direction perpendicular to the side pushing direction, thereby being beneficial to the close arrangement of structural components.

In some embodiments, as shown in fig. 12, the jaw apparatus 100 further includes: and the secondary guide assembly 5, wherein the secondary guide assembly 5 is connected between the mounting plate 7 and the fixing plate 1. The second-stage guide component 5 plays a role in connection and guide, the second-stage guide component 5 is ingeniously matched with the first-stage guide component 4, the degree of freedom of the fixing plate 1 is limited, the side pushing movement direction of the clamping jaw device 100 is accurate, the movement is stable, and the working stability is improved.

Specifically, as shown in fig. 9 and 12, the secondary guide assembly 5 includes: the two-stage guide rail 51 is connected to the fixed plate 1, and the two-stage slide block 52 is connected to the one-stage slide block 42.

In some embodiments, as shown in fig. 4, gripping drive 22 comprises: two engaged bevel gears 221, wherein one bevel gear 221 is connected with the clamping driving member 21, and the rotating shaft of the other bevel gear 221 passes through the fixing plate 1 and is connected with the clamping jaw 23. Therefore, the conversion of the transmission direction can be realized in a smaller space, and the transmission has high reliability and good transmission stability. The clamping driving member 21 and the clamping jaws 23 of the clamping jaw device 100 are respectively arranged at the upper side and the lower side of the fixing plate 1, and are meshed and connected through the bevel gear 221 to transmit power, so that the volume of a mechanism transmission assembly can be reduced, and the whole structure of the clamping jaw device 100 is compact.

Optionally, a protective shell 222 is mounted on the fixed plate 1 and covers the two bevel gears 221.

In some embodiments, as shown in fig. 13, the gripping member 2 further comprises a gripping belt 24, both sides of the gripping belt 24 are connected to the fixed plate 1 by gripping transmission wheels 25, one of the gripping transmission wheels 25 is connected to the gripping driving member 21, and the gripping jaws 23 are connected to the gripping belt 25. Thus, the gripping driving member 21 rotates a gripping driving wheel 25, and the gripping driving wheel 25 moves the gripping driving belt 25 and then moves the gripping claws 23. The driving mode has the advantages of less parts, small occupied space and contribution to reducing the whole size.

Specifically, as shown in fig. 13, the gripping claws 23 are two, and the two gripping claws 23 are connected to two opposite movement directions of the gripping belt 24. Taking the orientation shown in figure 13 as an example, when one of the jaws 23 is moved forward, the other jaw 23 is moved rearward. So arranged, the object 200 can be gripped or released by the two jaws 23. In the example of fig. 13, two jaws 23 are provided spaced apart in the front-rear direction, a front jaw 231 and a rear jaw 232, respectively. The clamping transmission belt 24 is adopted to drive the two clamping jaws 23 to move in opposite directions, so that on one hand, clamping forces of the two clamping jaws 23 can be balanced, the clamping forces of the two clamping jaws 23 on the object 200 are kept approximately equal, the object can be protected, and on the other hand, the distance between the two clamping jaws can be rapidly enlarged or reduced by utilizing the opposite movement of the two clamping jaws 23.

More specifically, as shown in fig. 13, the clamping jaw 23 is fixedly connected to the clamping transmission belt 24 through a connecting block 233, and the connecting block 233 is slidably fitted on the fixing plate 1 to play a guiding role.

In other embodiments, the gripping belt 24 is connected to only one clamping jaw 23, a clamping plate can be fixed below the fixing plate 1, the clamping jaw 23 and the clamping plate are used for clamping the object 200, and the clamping jaw 23 can move relative to the clamping plate to clamp or release the object 200. In other embodiments, a link assembly or the like may be used instead of the gripping belt 24.

Specifically, as shown in fig. 4, the gripping driving member 21 includes a gripping motor 211 and a gripping speed reducer 212 which are set up above the fixed plate 1, the gripping motor 211 moves, power is transmitted to a bevel gear 221 set up at the end of the gripping speed reducer 212 through the gripping speed reducer 212, another bevel gear 221 is connected to the fixed plate 1 through a bearing, and the power is transmitted downward to the gripping driving wheel 25, the gripping driving belt 24 and finally the gripping jaws 23 through meshing transmission of the two bevel gears 221. With the gripping motor 211 and the gripping speed reducer 212, not only the size of the gripping driving member 21 can be reduced, but also the control accuracy can be improved. In addition, the motor outputs power through a speed reducer, generally, the speed reduction and torque increase are realized, the load capacity is improved, and the motor is ensured.

In some embodiments, to enable automated control of the jaw apparatus 100, a plurality of detection devices are mounted on the jaw apparatus 100. For example, a first detecting member 61 for detecting whether the object 200 is clamped or not may be provided, and a second detecting member 62 for detecting whether the holding claw 23 is clamped in place or not may be provided. Alternatively, as shown in fig. 13, the first detecting member 61 is a correlation switch provided on the two holding jaws 23. Alternatively, as shown in fig. 7, the second detecting member 62 is a photoelectric switch provided on the fixed plate 1. Also, for example, a third detecting member 63 for checking whether the side pushing member is in place may be provided, and optionally, the third detecting member 63 is a photoelectric switch provided on the fixing plate 1, and the third detecting member 63 may detect whether the side pushing distance of the fixing plate 1 is in place, which helps determine that the movement of the side pushing member 3 is accurate.

In one particular embodiment, as shown in fig. 1-6, the jaw apparatus 100 includes: a fixed plate 1, a clamping component 2, a side pushing component 3 and a mounting plate 7.

The gripping member 2 includes: the clamping device comprises a clamping motor 211, a clamping speed reducer 212, two bevel gears 221, a clamping transmission belt 24, two clamping transmission wheels 25, a front clamping jaw 231 and a rear clamping jaw 232. The clamping motor 211 is arranged at the upper part of the fixing plate 1, the clamping jaws 23 are arranged at the lower part of the fixing plate 1, when the clamping part 2 works, the clamping motor 211 is started, the clamping motor 211 drives the clamping reduction gears 212 which are arranged in parallel to rotate, the clamping reduction gears 212 drive the two bevel gears 221 which are meshed to rotate, power is transmitted to one of the pair of clamping transmission wheels 25 which are arranged at the lower part of the fixing plate 1, the clamping transmission wheels 25 drive the clamping transmission belt 24 thereon to rotate, the clamping transmission belt 24 drives the connecting blocks 233 thereon to move, so that the front clamping jaws 231 and the rear clamping jaws 232 on the two connecting blocks 233 move towards the middle part simultaneously.

The side pushing member 3 includes: a side push motor 311, a side push speed reducer 312, a primary rack 3211, a secondary rack 3212, a side push gear 3213, a conversion seat 3214, a side push screw 322, a side push nut 323, a side push belt 324 and a side push belt wheel 325, wherein the side push component 3 is arranged between the mounting plate 7 and the fixing plate 1. A primary guide component 4 and a secondary guide component 5 are also arranged between the mounting plate 7 and the fixing plate 1.

The side pushing motor 311, the clamping motor 211 and the side pushing screw rod 322 are arranged in parallel on the fixing plate 1, the whole structure of the clamping jaw device 100 is compact due to the structure, and the three structures are covered with the mounting plate 7. After the clamping component 2 finishes working, the side pushing component 3 is started, the side pushing motor 311 arranged beside the clamping motor 211 is started to drive the side pushing speed reducer 312 to rotate, a side pushing belt wheel 325 at the end part of the side pushing speed reducer 312 is connected with a side pushing belt wheel 325 on a side pushing screw rod 322 through a side pushing transmission belt 324, the side pushing speed reducer 312 drives the side pushing screw rod 322 to rotate, a side pushing nut 323 on the side pushing screw rod 322 converts rotation into axial movement, and a side pushing gear 3213 connected with the side pushing nut 323 is driven to move in the side pushing direction. The primary rack 3211 is fixed on the mounting plate 7, while the secondary rack 3212 moves at twice the speed of the lateral pushing gear 3213, and when the lateral pushing gear 3213 moves from the rear end to the front end of the primary rack 3211, the secondary rack 3212 moves from the rear end to the front end, thereby realizing secondary lateral pushing. The ingenious cooperation of second grade direction subassembly 5 and one-level direction subassembly 4 between mounting panel 7 and the fixed plate 1 has restricted the degree of freedom of fixed plate 1, makes clamping jaw device 100's side push motion direction accurate, and the motion is steady, and job stabilization nature improves. When the clamping jaws 23 under the fixing plate 1 and the fixing plate 1 are laterally pushed in place, the lateral pushing is completed while clamping, and the clamping motor 211 can be reversely operated at the moment, so that the two clamping jaws 23 loosen the object 200. Therefore, the clamping jaw device 100 is compact in overall structure, small in occupied size and stable in working performance.

Other constructions of the jaw apparatus according to embodiments of the invention, such as motors and reducers, etc., and the operation thereof, are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A jaw apparatus, comprising:

a fixing plate;

the clamping driving part is connected with the clamping jaw through the clamping driving part so as to drive the clamping jaw to move to clamp an object;

the side pushes away the part, the side pushes away the part including installing the side of fixed plate top pushes away driving piece and side and pushes away the driving piece, the side pushes away the driving piece with press from both sides and get driving piece parallel arrangement, the side push away the driving piece pass through the side push away the driving piece with the fixed plate with the frame links to each other, the side pushes away the driving piece and can drive the relative frame of fixed plate is stretched out or is retracted.

2. The jaw apparatus of claim 1, wherein the side push drive comprises a gear assembly comprising:

the primary rack is used for being connected with the rack and arranged along the telescopic direction of the fixing plate;

the secondary rack is arranged on the fixing plate and is parallel to the primary rack;

the side pushes away the gear, the side pushes away the gear respectively with the one-level rack with the second grade rack meshes mutually, the side pushes away the driving piece and is used for driving the side pushes away the gear and follows the flexible direction of fixed plate removes.

3. The jaw apparatus of claim 2, wherein the side push drive further comprises:

the side push screw rod is arranged along the telescopic direction of the fixing plate, and the side push driving piece is used for driving the side push screw rod to rotate;

the side pushes away the nut, the side pushes away the nut cooperation on the side pushes away the lead screw, the side pushes away the nut and is restricted in following the flexible direction translation of fixed plate, the side pushes away the gear and rotationally connects on the side pushes away the nut.

4. The jaw apparatus of claim 3, wherein said side push drive further comprises: the lateral pushing device comprises a lateral pushing transmission belt and a lateral pushing belt wheel, wherein two sides of the lateral pushing transmission belt are respectively connected with the lateral pushing driving piece and the lateral pushing screw rod through the lateral pushing belt wheel.

5. The jaw apparatus of claim 3, wherein the side push screw and the side push driver are disposed in parallel, the side push screw and the side push driver being located on opposite sides of the gripping driver.

6. The jaw apparatus of claim 3, further comprising: the first-level guide assembly is connected between the fixed plate and the rack.

7. The jaw apparatus of claim 6, further comprising: the mounting panel, the side push away the driving piece with the side pushes away the lead screw and all installs the below of mounting panel, the bottom of at least one side of mounting panel is connected with side position strip, one-level direction subassembly includes matched with one-level guide rail and one-level slider, the one-level guide rail is connected the orientation of side position strip one side of lead screw is pushed away to the side, the side pushes away the nut and connects on the one-level slider, one-level rack connection is in keeping away from of side position strip one side of lead screw is pushed away to the side.

8. The jaw apparatus of claim 7, further comprising: a secondary guide assembly, the secondary guide assembly comprising: the guide rail of second grade and second grade slider matched with, the second grade guide rail is installed on the fixed plate, the second grade slider with the first grade slider links to each other.

9. Gripper device according to any one of claims 1 to 8, characterized in that the gripping drive comprises: and one of the bevel gears is connected with the clamping driving piece, and the rotating shaft of the other bevel gear penetrates through the fixing plate and then is connected with the clamping jaw.

10. The clamping jaw device as claimed in claim 9, wherein said clamping jaws are two in number, said clamping member further comprises a clamping driving belt, both sides of said clamping driving belt are connected to said fixed plate by clamping driving wheels, one of said clamping driving wheels is connected to a rotating shaft of the other of said bevel gears, and two of said clamping jaws are connected to two opposite moving directions of said clamping driving belt.